Connecting different computers via Rosbridge
Hi,
I was trying to control turtlesim running on my ros computer via another non ros computer. I used the following html file in my non ros computer:
<!DOCTYPE html>
<html>
<head>
<!-- Based on demo found here:
http://wiki.ros.org/roslibjs/Tutorials/BasicRosFunctionality
http://wiki.ros.org/roslibjs/Tutorials/BasicRosFunctionality
-->
<!--
The next two lines bring in the JavaScript files that support rosbridge integration.
-->
<script type="text/javascript" src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script type="text/javascript" src="http://cdn.robotwebtools.org/roslibjs/current/roslib.min.js"></script>
<script type="text/javascript" type="text/javascript">
// This function connects to the rosbridge server running on the local computer on port 9090
var rbServer = new ROSLIB.Ros({
url : 'ws://localhost:9090'
});
// This function is called upon the rosbridge connection event
rbServer.on('connection', function() {
// Write appropriate message to #feedback div when successfully connected to rosbridge
var fbDiv = document.getElementById('feedback');
fbDiv.innerHTML += "<p>Connected to websocket server.</p>";
});
// This function is called when there is an error attempting to connect to rosbridge
rbServer.on('error', function(error) {
// Write appropriate message to #feedback div upon error when attempting to connect to rosbridge
var fbDiv = document.getElementById('feedback');
fbDiv.innerHTML += "<p>Error connecting to websocket server.</p>";
});
// This function is called when the connection to rosbridge is closed
rbServer.on('close', function() {
// Write appropriate message to #feedback div upon closing connection to rosbridge
var fbDiv = document.getElementById('feedback');
fbDiv.innerHTML += "<p>Connection to websocket server closed.</p>";
});
// These lines create a topic object as defined by roslibjs
var cmdVelTopic = new ROSLIB.Topic({
ros : rbServer,
name : '/turtle1/cmd_vel',
messageType : 'geometry_msgs/Twist'
});
// These lines create a message that conforms to the structure of the Twist defined in our ROS installation
// It initalizes all properties to zero. They will be set to appropriate values before we publish this message.
var twist = new ROSLIB.Message({
linear : {
x : 0.0,
y : 0.0,
z : 0.0
},
angular : {
x : 0.0,
y : 0.0,
z : 0.0
}
});
/* This function:
- retrieves numeric values from the text boxes
- assigns these values to the appropriate values in the twist message
- publishes the message to the cmd_vel topic.
*/
function pubMessage() {
/**
Set the appropriate values on the twist message object according to values in text boxes
It seems that turtlesim only uses the x property of the linear object
and the z property of the angular object
**/
var linearX = 0.0;
var angularZ = 0.0;
// get values from text input fields. Note for simplicity we are not validating.
linearX = 0 + Number(document.getElementById('linearXText').value);
angularZ = 0 + Number(document.getElementById('angularZText').value);
// Set the appropriate values on the message object
twist.linear.x = linearX;
twist.angular.z = angularZ;
// Publish the message
cmdVelTopic.publish(twist);
}
</script>
</head>
<body>
<form name="ctrlPanel">
<p>Enter positive or negative numeric decimal values in the boxes below</p>
<table>
<tr><td>Linear X</td><td><input id="linearXText" name="linearXText" type="text" value="1.5"/></td></tr>
<tr><td>Angular Z</td><td><input ...add a comment
